feat(autoware_motion_velocity_obstacle_<stop/slow_down>_module): brings Point Cloud handling to this module #10112

PanConChicharron · 2025-02-13T04:02:43Z

Description

How was this PR tested?

Results in https://tier4.atlassian.net/wiki/spaces/~712020794ae44077c44b7e9a5aa2cb085494fb/pages/3549299486/Point+Cloud+Handling+in+motion_velocity_planner+module

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None.

Interface changes

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github-actions · 2025-02-13T04:03:00Z

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...planner/autoware_motion_velocity_obstacle_slow_down_module/src/obstacle_slow_down_module.cpp

takayuki5168 · 2025-02-14T06:23:20Z

@PanConChicharron
As a draft PR, overall the changes look good to me!

Signed-off-by: Arjun Jagdish Ram <[email protected]>

takayuki5168 · 2025-02-18T00:37:45Z

...er_common_universe/include/autoware/motion_velocity_planner_common_universe/planner_data.hpp

+    std::optional<geometry_msgs::msg::Point> stop_collision_point;
+    std::optional<geometry_msgs::msg::Point> slow_down_front_collision_point;
+    std::optional<geometry_msgs::msg::Point> slow_down_back_collision_point;


This Object struct is in the motion_velocity_planner's common package, so we should not put a module-related variables such as stop_xxx or slow_down_xxx.
Can you put them inside the module's structures such as StopObstacle and SlowDownObtacle?

takayuki5168 · 2025-02-18T00:39:40Z

...er_common_universe/include/autoware/motion_velocity_planner_common_universe/planner_data.hpp

+    double ego_to_obstacle_distance;
+    double lat_dist_from_obstacle_to_traj;


We already have the following functions. Can you check if these can be used for your new variables?

get_dist_to_traj_poly

get_dist_to_traj_lateral

get_dist_from_ego_longitudinal

...ing/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/parameters.hpp

...planner/autoware_motion_velocity_obstacle_slow_down_module/src/obstacle_slow_down_module.cpp

..._velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp

...planner/autoware_motion_velocity_obstacle_slow_down_module/src/obstacle_slow_down_module.cpp

takayuki5168 · 2025-02-18T02:38:39Z

..._velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp

+  enable_calculation_time_info_ =
+    getOrDeclareParameter<bool>(node, "common.enable_calculation_time_info");


Please remove this variable.

takayuki5168 · 2025-02-18T02:39:16Z

..._velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp

+  use_pointcloud_for_stop_ =
+    getOrDeclareParameter<bool>(node, "common.stop_obstacle_type.pointcloud");


Since this implementation is obviously for the stop feature, use_pointcloud_ sounds enough for me.

takayuki5168 · 2025-02-18T02:42:32Z

planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/utils.cpp

@@ -109,6 +109,33 @@ std::vector<TrajectoryPoint> decimate_trajectory_points_from_ego(
  }
  return extended_traj_points_from_ego;
 }
+geometry_msgs::msg::Point toGeomPoint(const pcl::PointXYZ & point)


Can you make the function's name to the snake case? Please check other functions as well.
Sorry for the inconvenience. 🙏

to_geometry_point sounds better to me.

takayuki5168 · 2025-02-18T02:48:24Z

...planner/autoware_motion_velocity_obstacle_slow_down_module/src/obstacle_slow_down_module.cpp

+  ec.setInputCloud(filtered_points_ptr);
+  ec.extract(clusters);
+
+  const auto max_lat_margin = p.max_lat_margin;


Seems no need to declare this variable.

codecov · 2025-02-18T04:00:42Z

Codecov Report

Attention: Patch coverage is 0% with 224 lines in your changes missing coverage. Please review.

Project coverage is 26.68%. Comparing base (b4d9155) to head (8b204f5).

Files with missing lines	Patch %	Lines
..._obstacle_stop_module/src/obstacle_stop_module.cpp	0.00%	98 Missing ⚠️
...slow_down_module/src/obstacle_slow_down_module.cpp	0.00%	81 Missing ⚠️
...ion_velocity_planner_common_universe/src/utils.cpp	0.00%	14 Missing ⚠️
...ocity_obstacle_slow_down_module/src/parameters.hpp	0.00%	13 Missing ⚠️
...n_velocity_obstacle_stop_module/src/parameters.hpp	0.00%	10 Missing ⚠️
..._velocity_planner_common_universe/planner_data.hpp	0.00%	5 Missing ⚠️
.../motion_velocity_planner_common_universe/utils.hpp	0.00%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10112      +/-   ##
==========================================
- Coverage   26.76%   26.68%   -0.08%     
==========================================
  Files        1416     1418       +2     
  Lines      108463   108693     +230     
  Branches    41715    41739      +24     
==========================================
- Hits        29033    29009      -24     
- Misses      76554    76811     +257     
+ Partials     2876     2873       -3

Flag	Coverage Δ		*Carryforward flag
differential	`12.69% <0.00%> (?)`
total	`26.74% <ø> (-0.03%)`	⬇️	Carriedforward from 5a5aea7

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PanConChicharron changed the title ~~draft~~ feat(autoware_motion_velocity_obstacle_slwo_down_module): brings Point Cloud handling to this module Feb 17, 2025

PanConChicharron changed the title ~~feat(autoware_motion_velocity_obstacle_slwo_down_module): brings Point Cloud handling to this module~~ feat(autoware_motion_velocity_obstacle_slow_down_module): brings Point Cloud handling to this module Feb 17, 2025

PanConChicharron mentioned this pull request Feb 17, 2025

feat(autoware_motion_velocity_obstacle_slow_down_module): params for obstacle stop and slow down modules autowarefoundation/autoware_launch#1330

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PanConChicharron and others added 4 commits February 18, 2025 09:07

pointcloud handling for slowdown and stop module

a2c7bd6

Signed-off-by: Arjun Jagdish Ram <[email protected]>

fixed param read

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Signed-off-by: Arjun Jagdish Ram <[email protected]>

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Signed-off-by: Arjun Jagdish Ram <[email protected]>

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PanConChicharron marked this pull request as ready for review February 18, 2025 00:26

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takayuki5168 changed the title ~~feat(autoware_motion_velocity_obstacle_slow_down_module): brings Point Cloud handling to this module~~ feat(autoware_motion_velocity_obstacle_<stop/slow_down>_module): brings Point Cloud handling to this module Feb 18, 2025

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feat(autoware_motion_velocity_obstacle_<stop/slow_down>_module): brings Point Cloud handling to this module #10112

feat(autoware_motion_velocity_obstacle_<stop/slow_down>_module): brings Point Cloud handling to this module #10112

PanConChicharron commented Feb 13, 2025 •

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codecov bot commented Feb 18, 2025

		double ego_to_obstacle_distance;
		double lat_dist_from_obstacle_to_traj;

		enable_calculation_time_info_ =
		getOrDeclareParameter<bool>(node, "common.enable_calculation_time_info");

		use_pointcloud_for_stop_ =
		getOrDeclareParameter<bool>(node, "common.stop_obstacle_type.pointcloud");

feat(autoware_motion_velocity_obstacle_<stop/slow_down>_module): brings Point Cloud handling to this module #10112

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feat(autoware_motion_velocity_obstacle_<stop/slow_down>_module): brings Point Cloud handling to this module #10112

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PanConChicharron commented Feb 13, 2025 • edited Loading

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